應用四輪獨立煞車力控制之電動貨卡車身動態整合控制策略

Chao-Yu Chen; 陳昭宇

請用此 Handle URI 來引用此文件： http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/86729

完整後設資料紀錄

DC 欄位	值	語言
dc.contributor.advisor	蘇偉儁(Wei-Jiun Su)
dc.contributor.author	Chao-Yu Chen	en
dc.contributor.author	陳昭宇	zh_TW
dc.date.accessioned	2023-03-20T00:13:58Z	-
dc.date.copyright	2022-08-02
dc.date.issued	2022
dc.date.submitted	2022-07-29
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dc.identifier.uri	http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/86729	-
dc.description.abstract	先進駕駛輔助系統(ADAS)是現今在汽車產業中非常熱門的技術，其技術多開發在商用小客車上，較少針對大型車輛(貨車、卡車)來進行設計開發。但大型車輛之駕駛者多為職業駕駛，需要長時間集中精神去駕駛車輛，在新聞中也常見疲勞駕駛導致大型車輛在閃避障礙物時使車輛翻覆。因此，本研究旨在開發一套應用於電動貨卡之車身穩定系統，其系統可因應不同道路摩擦係數、質量以及質心變化，降低車輛在突然轉向時發生翻覆的可能性。其系統作動方法為介入輪胎煞車來補償轉向不足和轉向過度的情況，並避免輪胎鎖死及空轉，讓電動貨卡的操控性能進一步提升。本研究藉由階層分工的方式整合AYC、ABS、TCS三種控制器來達到車身穩定控制系統，並根據輪速訊號及加速度訊號實時估測出控制器所需的參數，使控制器不會因為參數失真而導致車輛失控，最後將控制命令轉換成硬體命令輸入給動力系統以及煞車系統來達到控制效果。階層式動態整合策略係以MATLAB/Simulink結合dSPACE建立一套電動貨卡的車輛模型進行模型在環(MiL)驗證，確認控制方法的可行性及控制器的成果。	zh_TW
dc.description.abstract	Advanced Driver Assistance System (ADAS) is a very popular technology in the automotive industry and it is mostly developed on commercial passenger cars, but less designed for large vehicles, such as trucks and lorries. However, the drivers of large vehicles are usually professional drivers who need to concentrate on driving for a long time, and thus, it is often seen in the news that fatigue driving causes roll over when avoiding obstacles. The purpose of this research is to develop an electronic stability control system for electric trucks. To reduce the possibility of the vehicle rollover during sudden turns, the system can respond to different road friction coefficient, mass and center of mass. It intervenes in the braking of tire to compensate for understeering and oversteering, and to avoid idling or locking of the wheels, further improving the handling performance of electric truck. In this study, by using hierarchical approach to integrate AYC, ABS, and TCS controllers to achieve electronic stability control system. The required parameters of the controllers are estimated in real time based on the wheel speed and acceleration signals, so that the controllers will not lose control of the vehicle due to parameter distortion. Finally, the control commands are converted into hardware commands and sent them to the power system and brake system to achieve the control effect. MATLAB/Simulink combined with dSPACE is used to build a vehicle model of an electric truck for model-in-the-loop (MiL) validation to confirm the feasibility of the control method and verify the results of the controllers.	en
dc.description.provenance	Made available in DSpace on 2023-03-20T00:13:58Z (GMT). No. of bitstreams: 1 U0001-2707202221044000.pdf: 5782180 bytes, checksum: 7722fffc23ab8fc126b421cfc392b747 (MD5) Previous issue date: 2022	en
dc.description.tableofcontents	論文口試委員審定書 I 線上簽名eSignature證明 II 誌謝 III 摘要 IV Abstract V 目錄 VI 圖目錄 VIII 表目錄 XI 符號列表 XII 第 1 章緒論 1 1.1 研究背景 1 1.2 研究動機與目標 2 1.3 研究流程與論文架構 4 第 2 章文獻回顧 5 2.1 車輛動態系統模型建模 5 2.2 車輛動態整合控制 7 2.3 牽引力控制系統 (TCS) 9 2.4 防鎖死煞車系統 (ABS) 13 2.5 主動橫擺控制 (AYC) 15 2.6 文獻回顧總結 17 第 3 章電動貨卡車輛動態控制演算法 18 3.1 動態控制整合控制器 18 3.2 主動橫擺控制器設計 (AYC) 20 3.3 循跡防滑控制器設計 (TCS) 24 3.4 防鎖死煞車控制器設計 (ABS) 30 3.5 動態控制演算法總結 37 第 4 章參數估測系統設計 38 4.1 車輛參數估測目標及架構 38 4.2 車輛模型幾何參數定義 40 4.3 車輛動態實時估測 41 4.3.1 輪胎摩擦力估測器 41 4.3.2 輪胎正向力估測器 44 4.3.3 整車質量估測器 49 4.3.4 車身速度估測器 52 4.3.5 動態估測性能模擬驗證 54 4.4 參數估測器總結 60 第 5 章 MIL動態控制模擬分析 61 5.1 正弦定頻試驗 62 5.1.1 側向負載轉移比 64 5.1.2 橫擺率 67 5.1.3 縱向位移 69 5.1.4 車身側滑角 72 5.1.5 正弦定頻試驗小結 74 第 6 章結論與未來展望 75 6.1 研究成果 75 6.2 未來方向 76 參考文獻 77
dc.language.iso	zh-TW
dc.subject	階層式整合控制	zh_TW
dc.subject	模型在環	zh_TW
dc.subject	主動橫擺控制	zh_TW
dc.subject	主動橫擺控制	zh_TW
dc.subject	電動貨卡	zh_TW
dc.subject	階層式整合控制	zh_TW
dc.subject	模型在環	zh_TW
dc.subject	牽引力控制系統	zh_TW
dc.subject	牽引力控制系統	zh_TW
dc.subject	防鎖死煞車系統	zh_TW
dc.subject	防鎖死煞車系統	zh_TW
dc.subject	電動貨卡	zh_TW
dc.subject	model-in-the-loop	en
dc.subject	hierarchical control system	en
dc.subject	electric truck	en
dc.subject	active yaw control	en
dc.subject	anti-lock braking system	en
dc.subject	traction control system	en
dc.subject	model-in-the-loop	en
dc.subject	hierarchical control system	en
dc.subject	electric truck	en
dc.subject	active yaw control	en
dc.subject	anti-lock braking system	en
dc.subject	traction control system	en
dc.title	應用四輪獨立煞車力控制之電動貨卡車身動態整合控制策略	zh_TW
dc.title	Integrated Vehicle Dynamic Control for an Electric Truck by Four-Wheel Independent Braking Force Control	en
dc.type	Thesis
dc.date.schoolyear	110-2
dc.description.degree	碩士
dc.contributor.oralexamcommittee	劉霆(Tyng Liu),陳明彥(Ming-Yan Chen)
dc.subject.keyword	階層式整合控制,電動貨卡,主動橫擺控制,防鎖死煞車系統,牽引力控制系統,模型在環,	zh_TW
dc.subject.keyword	hierarchical control system,electric truck,active yaw control,anti-lock braking system,traction control system,model-in-the-loop,	en
dc.relation.page	79
dc.identifier.doi	10.6342/NTU202201800
dc.rights.note	同意授權(全球公開)
dc.date.accepted	2022-07-29
dc.contributor.author-college	工學院	zh_TW
dc.contributor.author-dept	機械工程學研究所	zh_TW
dc.date.embargo-lift	2022-08-02	-
顯示於系所單位：	機械工程學系

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